#include <camera_driver.h>

Public Member Functions
	CameraDriver (ros::NodeHandle nh, ros::NodeHandle priv_nh)

bool	Start ()

void	Stop ()

	~CameraDriver ()

Private Types
enum	State { kInitial = 0, kStopped = 1, kRunning = 2 }

Private Member Functions
void	AutoControlsCallback (enum uvc_status_class status_class, int event, int selector, enum uvc_status_attribute status_attribute, void *data, size_t data_len)

void	CloseCamera ()

bool	getUVCExposureCb (astra_camera::GetUVCExposureRequest &req, astra_camera::GetUVCExposureResponse &res)

bool	getUVCGainCb (astra_camera::GetUVCGainRequest &req, astra_camera::GetUVCGainResponse &res)

bool	getUVCWhiteBalanceCb (astra_camera::GetUVCWhiteBalanceRequest &req, astra_camera::GetUVCWhiteBalanceResponse &res)

enum uvc_frame_format	GetVideoMode (std::string vmode)

void	ImageCallback (uvc_frame_t *frame)

void	OpenCamera (UVCCameraConfig &new_config)

void	ReconfigureCallback (UVCCameraConfig &config, uint32_t level)

bool	setUVCExposureCb (astra_camera::SetUVCExposureRequest &req, astra_camera::SetUVCExposureResponse &res)

bool	setUVCGainCb (astra_camera::SetUVCGainRequest &req, astra_camera::SetUVCGainResponse &res)

bool	setUVCWhiteBalanceCb (astra_camera::SetUVCWhiteBalanceRequest &req, astra_camera::SetUVCWhiteBalanceResponse &res)

Static Private Member Functions
static void	AutoControlsCallbackAdapter (enum uvc_status_class status_class, int event, int selector, enum uvc_status_attribute status_attribute, void data, size_t data_len, void ptr)

static void	ImageCallbackAdapter (uvc_frame_t frame, void ptr)

Private Attributes
image_transport::CameraPublisher	cam_pub_

sensor_msgs::CameraInfo	camera_info_

ros::ServiceClient	camera_info_client

bool	camera_info_init_

bool	camera_info_valid_

camera_info_manager::CameraInfoManager	cinfo_manager_

UVCCameraConfig	config_

bool	config_changed_

dynamic_reconfigure::Server< UVCCameraConfig >	config_server_

uvc_context_t *	ctx_

uvc_device_t *	dev_

uvc_device_handle_t *	devh_

std::string	device_type_

ros::ServiceClient	device_type_client

bool	device_type_init_

OB_DEVICE_NO	device_type_no_

ros::ServiceServer	get_uvc_exposure_server

ros::ServiceServer	get_uvc_gain_server

ros::ServiceServer	get_uvc_white_balance_server

image_transport::ImageTransport	it_

boost::recursive_mutex	mutex_

ros::NodeHandle	nh_

std::string	ns

std::string	ns_no_slash

ros::NodeHandle	priv_nh_

uvc_frame_t *	rgb_frame_

ros::ServiceServer	set_uvc_exposure_server

ros::ServiceServer	set_uvc_gain_server

ros::ServiceServer	set_uvc_white_balance_server

State	state_

int	uvc_flip_

Static Private Attributes
static const int	kReconfigureClose = 3

static const int	kReconfigureRunning = 0

static const int	kReconfigureStop = 1

Detailed Description

Definition at line 25 of file camera_driver.h.

Member Enumeration Documentation

enum libuvc_camera::CameraDriver::State

private

Enumerator
kInitial
kStopped
kRunning

Definition at line 34 of file camera_driver.h.

Constructor & Destructor Documentation

libuvc_camera::CameraDriver::CameraDriver	(	ros::NodeHandle	nh,
		ros::NodeHandle	priv_nh
	)

Definition at line 52 of file camera_driver.cpp.

libuvc_camera::CameraDriver::~CameraDriver ( )

Definition at line 86 of file camera_driver.cpp.

Member Function Documentation

void libuvc_camera::CameraDriver::AutoControlsCallback	(	enum uvc_status_class	status_class,
		int	event,
		int	selector,
		enum uvc_status_attribute	status_attribute,
		void *	data,
		size_t	data_len
	)

private

Definition at line 407 of file camera_driver.cpp.

void libuvc_camera::CameraDriver::AutoControlsCallbackAdapter	(	enum uvc_status_class	status_class,
		int	event,
		int	selector,
		enum uvc_status_attribute	status_attribute,
		void *	data,
		size_t	data_len,
		void *	ptr
	)

staticprivate

Definition at line 449 of file camera_driver.cpp.

void libuvc_camera::CameraDriver::CloseCamera ( )

private

Definition at line 608 of file camera_driver.cpp.

bool libuvc_camera::CameraDriver::getUVCExposureCb	(	astra_camera::GetUVCExposureRequest &	req,
		astra_camera::GetUVCExposureResponse &	res
	)

private

Definition at line 94 of file camera_driver.cpp.

bool libuvc_camera::CameraDriver::getUVCGainCb	(	astra_camera::GetUVCGainRequest &	req,
		astra_camera::GetUVCGainResponse &	res
	)

private

Definition at line 119 of file camera_driver.cpp.

bool libuvc_camera::CameraDriver::getUVCWhiteBalanceCb	(	astra_camera::GetUVCWhiteBalanceRequest &	req,
		astra_camera::GetUVCWhiteBalanceResponse &	res
	)

private

Definition at line 133 of file camera_driver.cpp.

enum uvc_frame_format libuvc_camera::CameraDriver::GetVideoMode ( std::string vmode )

private

Definition at line 462 of file camera_driver.cpp.

void libuvc_camera::CameraDriver::ImageCallback ( uvc_frame_t * frame )

private

Definition at line 250 of file camera_driver.cpp.

void libuvc_camera::CameraDriver::ImageCallbackAdapter	(	uvc_frame_t *	frame,
		void *	ptr
	)

staticprivate

Definition at line 401 of file camera_driver.cpp.

void libuvc_camera::CameraDriver::OpenCamera ( UVCCameraConfig & new_config )

private

Definition at line 486 of file camera_driver.cpp.

void libuvc_camera::CameraDriver::ReconfigureCallback	(	UVCCameraConfig &	config,
		uint32_t	level
	)

private

Definition at line 188 of file camera_driver.cpp.

bool libuvc_camera::CameraDriver::setUVCExposureCb	(	astra_camera::SetUVCExposureRequest &	req,
		astra_camera::SetUVCExposureResponse &	res
	)

private

Definition at line 102 of file camera_driver.cpp.

bool libuvc_camera::CameraDriver::setUVCGainCb	(	astra_camera::SetUVCGainRequest &	req,
		astra_camera::SetUVCGainResponse &	res
	)

private

Definition at line 127 of file camera_driver.cpp.

bool libuvc_camera::CameraDriver::setUVCWhiteBalanceCb	(	astra_camera::SetUVCWhiteBalanceRequest &	req,
		astra_camera::SetUVCWhiteBalanceResponse &	res
	)

private

Definition at line 141 of file camera_driver.cpp.

bool libuvc_camera::CameraDriver::Start ( )

Definition at line 153 of file camera_driver.cpp.

void libuvc_camera::CameraDriver::Stop ( )

Definition at line 172 of file camera_driver.cpp.

Member Data Documentation

image_transport::CameraPublisher libuvc_camera::CameraDriver::cam_pub_

private

Definition at line 84 of file camera_driver.h.

sensor_msgs::CameraInfo libuvc_camera::CameraDriver::camera_info_

private

Definition at line 107 of file camera_driver.h.

ros::ServiceClient libuvc_camera::CameraDriver::camera_info_client

private

Definition at line 102 of file camera_driver.h.

bool libuvc_camera::CameraDriver::camera_info_init_

private

Definition at line 105 of file camera_driver.h.

bool libuvc_camera::CameraDriver::camera_info_valid_

private

Definition at line 110 of file camera_driver.h.

camera_info_manager::CameraInfoManager libuvc_camera::CameraDriver::cinfo_manager_

private

Definition at line 90 of file camera_driver.h.

UVCCameraConfig libuvc_camera::CameraDriver::config_

private

Definition at line 87 of file camera_driver.h.

bool libuvc_camera::CameraDriver::config_changed_

private

Definition at line 88 of file camera_driver.h.

dynamic_reconfigure::Server<UVCCameraConfig> libuvc_camera::CameraDriver::config_server_

private

Definition at line 86 of file camera_driver.h.

uvc_context_t* libuvc_camera::CameraDriver::ctx_

private

Definition at line 78 of file camera_driver.h.

uvc_device_t* libuvc_camera::CameraDriver::dev_

private

Definition at line 79 of file camera_driver.h.

uvc_device_handle_t* libuvc_camera::CameraDriver::devh_

private

Definition at line 80 of file camera_driver.h.

std::string libuvc_camera::CameraDriver::device_type_

private

Definition at line 106 of file camera_driver.h.

ros::ServiceClient libuvc_camera::CameraDriver::device_type_client

private

Definition at line 101 of file camera_driver.h.

bool libuvc_camera::CameraDriver::device_type_init_

private

Definition at line 104 of file camera_driver.h.

OB_DEVICE_NO libuvc_camera::CameraDriver::device_type_no_

private

Definition at line 109 of file camera_driver.h.

ros::ServiceServer libuvc_camera::CameraDriver::get_uvc_exposure_server

private

Definition at line 94 of file camera_driver.h.

ros::ServiceServer libuvc_camera::CameraDriver::get_uvc_gain_server

private

Definition at line 96 of file camera_driver.h.

ros::ServiceServer libuvc_camera::CameraDriver::get_uvc_white_balance_server

private

Definition at line 98 of file camera_driver.h.

image_transport::ImageTransport libuvc_camera::CameraDriver::it_

private

Definition at line 83 of file camera_driver.h.

const int libuvc_camera::CameraDriver::kReconfigureClose = 3

staticprivate

Definition at line 41 of file camera_driver.h.

const int libuvc_camera::CameraDriver::kReconfigureRunning = 0

staticprivate

Definition at line 43 of file camera_driver.h.

const int libuvc_camera::CameraDriver::kReconfigureStop = 1

staticprivate

Definition at line 42 of file camera_driver.h.

boost::recursive_mutex libuvc_camera::CameraDriver::mutex_

private

Definition at line 76 of file camera_driver.h.

ros::NodeHandle libuvc_camera::CameraDriver::nh_

private

Definition at line 73 of file camera_driver.h.

std::string libuvc_camera::CameraDriver::ns

private

Definition at line 91 of file camera_driver.h.

std::string libuvc_camera::CameraDriver::ns_no_slash

private

Definition at line 92 of file camera_driver.h.

ros::NodeHandle libuvc_camera::CameraDriver::priv_nh_

private

Definition at line 73 of file camera_driver.h.

uvc_frame_t* libuvc_camera::CameraDriver::rgb_frame_

private

Definition at line 81 of file camera_driver.h.

ros::ServiceServer libuvc_camera::CameraDriver::set_uvc_exposure_server

private

Definition at line 95 of file camera_driver.h.

ros::ServiceServer libuvc_camera::CameraDriver::set_uvc_gain_server

private

Definition at line 97 of file camera_driver.h.

ros::ServiceServer libuvc_camera::CameraDriver::set_uvc_white_balance_server

private

Definition at line 99 of file camera_driver.h.

State libuvc_camera::CameraDriver::state_

private

Definition at line 75 of file camera_driver.h.

int libuvc_camera::CameraDriver::uvc_flip_

private

Definition at line 108 of file camera_driver.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation